时变状态约束下四旋翼无人机轨迹跟踪控制
Trajectory tracking control for quadrotor UAV with time-varying states constraints
刘敏 1张义宽 1陈金山 1彭金喜 1薛笑荣2
作者信息
- 1. 广州软件学院,广州 510990
- 2. 辽宁工业大学电子与信息工程学院,辽宁锦州 121001
- 折叠
摘要
针对外界扰动、模型不确定性以及时变状态约束情况下的四旋翼无人机轨迹跟踪控制问题,设计了基于神经网络的自适应动态面控制方案.首先通过非线性变换将四旋翼无人机位置约束问题转换为新状态量的有界问题,采用神经网络对系统中的不确定项进行估计,在此基础上分别设计了位置和姿态自适应动态面控制率,并给出了该控制系统稳定性证明.最后设计了仿真试验,分别采用PD控制方法以及动态面控制方法与所设计的自适应动态面控制方法进行对比,结果验证了所设计控制方案的有效性和优越性.仿真结果表明,所设计的控制方案能够保证四旋翼无人机对期望位姿的稳定跟踪,无人机位置状态始终处于期望的时变约束范围之内.且相较于动态面控制方法,该控制方案对外界扰动、模型不确定性具有更好的抑制效果.
Abstract
Aiming at the trajectory tracking control problem of quadrotor UAV under external disturbance,model uncertainty and time-varying state constraints,a dynamic surface control scheme based on neural network is designed.Firstly,new states are obtained by nonlinear transformation of the position states,and the position states constraint problem of quadrotor UAV is transformed into a bounded problem of new states.The uncertainty in the system is estimated by neural network,then,the position and attitude dynamic surface control rates are designed respectively,and the stability is proved.Finally,simulation is conducted to compare the PD control method and the dynamic surface control method with the designed adaptive dynamic surface control method.The results validate the effectiveness and superiority of the proposed control scheme.Simulation results demonstrate that the designed control scheme ensures the stable tracking of the quadrotor UAV to the desired positional attitude with the UAV position state consistently within the desired time-varying constraints.Compared with the dynamic surface control method,the proposed control scheme exhibits a better suppression effect on external perturbation and model uncertainty.
关键词
四旋翼无人机/轨迹跟踪/状态受限/动态面控制/飞行控制率Key words
quadrotor unmanned aerial vehicle/trajectory tracking/states constraints/dynamic surface control/flight control law引用本文复制引用
基金项目
国家自然科学基金(U1204402)
辽宁省教育厅自然科学重点项目(LJKZ0618)
辽宁省科技计划(2021JH2/10200023)
出版年
2024
NETL
NSTL
万方数据